CN207917112U - A kind of small-sized hanging underwater robot platform device - Google Patents
A kind of small-sized hanging underwater robot platform device Download PDFInfo
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- CN207917112U CN207917112U CN201820009745.8U CN201820009745U CN207917112U CN 207917112 U CN207917112 U CN 207917112U CN 201820009745 U CN201820009745 U CN 201820009745U CN 207917112 U CN207917112 U CN 207917112U
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Abstract
The utility model is related to a kind of small-sized hanging underwater robot platform devices.It is a kind of small underwater stage apparatus of the high external hanging of controllability, for fields such as the underwater defects detection of offshore oil platform, seabed cable damage detection and the detections of submarine pipeline damage specific location.Its technical solution：The stage apparatus is made of imitative green turtle sandwich type element, underwater propeller, function carry system, camera system, signal processing analysis Transmission system, imitative green turtle sandwich type element is connected with main body rack by screw hole C by hemispherical shell, and internal umbilical cord is drawn by the gland head of main body rack；Main signal processing Transmission system is placed in the inside of underwater robot platform hemispherical shell, is placed in inside external carry part A from signal processing Transmission system A, is placed in inside external carry part B from signal processing Transmission system B.The present apparatus is simple in structure easy to maintain, and the external hanging design of function carry system improves the applicability of equipment with Miniaturization Design.
Description
Technical field
The utility model is related to a kind of small-sized hanging underwater robot platform devices, are a kind of controllable using multimodeization
Property high small underwater stage apparatus, for the underwater defects detection of offshore oil platform, seabed cable damage detection and water
The fields such as the detection of lower Pipeline damage specific location.
Background technology
With the economic quickly development of various countries and being continuously increased for world population, the mankind consume the speed and total amount of resource
All constantly increasing, but the resource of land is limited, for survival and development, the mankind start to marching elsewhere, sea
The exploitation in ocean is exactly the forward position that this is marched greatly.Ocean, the gross area are about 3.6 hundred million square kilometres, account for about earth surface
Long-pending 71%, mineral resources therein are also extremely abundant, and various mineral resources are tens times of nowadays land discovery resource
It is differed to thousands of times, therefore, marine exploration has extremely strong attraction and challenge with exploitation.
Nowadays, the exploitation of ocean is gradually increased with the mankind, submarine facility also gradually increases, at the same time also companion
With the increasing of seabed operation amount, the failure sum of submarine facility also increases, and environments such as subsea is severe, is unsuitable for people for a long time
Seabed work, be reduce the mankind during develop ocean danger and high cost, then people use underwater
People replaces, and by underwater robot realizes the exploitation to ocean.
Currently, demand of the development of marine field to underwater robot platform is increasing, such as offshore oil platform
Underwater defects detection, seabed cable damage detection and the detection of submarine pipeline damage specific location, but current simple function
Underwater robot occupy majority, there are the speed of maintenance is more slow, use environment is single, the higher problem of cost.So
It is badly in need of a kind of small-size multifunction underwater robot platform device of utility model.
Invention content
The purpose of this utility model is：In order to overcome existing underwater robot apparatus function single, provide a kind of multi-functional
The high small-sized hanging underwater robot platform device of modular controllable.
The utility model utilizes the module design of buckle-type, carries detection module and the camera system of function to reach water
Lower equipment testing goal.
In order to achieve the above object, the utility model uses following technical scheme：A kind of small-sized hanging underwater robot
Stage apparatus is by imitative green turtle sandwich type element, underwater propeller, function carry system, camera system, signal processing analysis transmission system
System composition, it is characterised in that：The stage apparatus is the external carry part A (8) by imitating green turtle sandwich type element (1) and function carry system
It is formed with external carry part B (33), the imitative green turtle sandwich type element (1) is to pass through screw hole C (3) and main body by hemispherical shell (2)
Holder (4) is connected, and accompanies seal washer (5) between the two, and internal umbilical cord is drawn by the gland head (6) of main body rack (4)
Go out, umbilical cord is fixed on the hollow ring (7) of main body rack tail portion again；External carry part A (8) is logical with external carry part B (33)
The buckle (9) for crossing main body rack (4) bottom is fixed, and two buckles (9) are integrally attached on main body rack (4), and buckle (9) belongs to
A part for main body rack (4)；The underwater propeller (10) is made of motor (11), propeller (12) and duct (13), electricity
Machine (11) and propeller (12) are fixedly connected on duct (13), and duct is fixed on by screw hole A (14) on main body rack (4)；
The camera system (15) is made of waterproof CCD camera (16) and illumination LED array (17), two illumination LED arrays
(17) left and right is mounted on waterproof CCD camera (16) both sides, and camera system (15) is fixed on main body rack (4) front bottom end；Institute
State signal processing analysis Transmission system by main signal processing Transmission system (18), from signal processing Transmission system A (19), from signal
Transmission system B (20) and master system (34) composition are handled, it is flat that main signal processing Transmission system (18) is placed in underwater robot
The inside of platform hemispherical shell (2) is placed in external carry part A (8) inside, from signal from signal processing Transmission system A (19)
It is internal that reason Transmission system B (20) is placed in external carry part B (33)；It includes data transmit-receive module that main signal, which handles Transmission system (18),
B (29), MCU B (27), motor-drive circuit (28), camera data acquisition module (21), underwater propeller (10) and motor
Driving circuit (28) is connected, and waterproof CCD camera (16) is connected with camera data acquisition module (21), motor-drive circuit
(28) be connected again with MCU B (27) with camera data acquisition module (21), MCU B (27) again with data transmit-receive module B
(29) it connects；Include data transmit-receive module A (22), MCU A (23), analog-digital converter from signal processing Transmission system A (19)
(24), sensor acquisition module (25), data storage (26) and program storage (32), sensor acquisition module (25) and mould
Number converter (24) is connected, and the analog signal of acquisition, which is carried out A/D, is converted into digital signal, then digital data transmission is given
MCU A (23) carry out processing analysis, MCU A (23) while being bi-directionally connected with data storage (26) and program storage (32),
On the one hand MCU A (23) treated signals are sent to data storage (26), on the other hand pass through data transmit-receive module A (22)
The MCU B (27) of the internal main signal processing Transmission system A (18) of hemispherical shell (2) are sent to, from signal processing Transmission system B
(20) identical as the connection type from signal processing Transmission system A (19)；Master system (34) includes host computer (31) sum number
According to transceiver module C (30), host computer (31) is sent to main signal by data transmit-receive module C (30) and handles Transmission system (18)
Data transmit-receive module B (29), MCU B (27) again analyze the control signal received by data transmit-receive module B (29), hair
Give motor-drive circuit (28), since signal processing Transmission system A (19), from signal processing Transmission system B (20), camera shooting
The signal data of machine data acquisition module (21) three parts handles the MCU B (27) in Transmission system (18) by main signal and handles
Afterwards, then the data transmit-receive module B (29) in Transmission system (18) is handled by main signal to be transferred in master system (34)
Data transmit-receive module C (30) is last transmitted to host computer (31).Small-sized hanging underwater robot platform device, feature exist
In：The function carry system realizes the setting of dismountable multi-functional carry using buckle, two in external carry part A (8)
A buckle (9) is located at carry cylinder (36) both ends, and buckle (9) clamps carry cylinder (36) with screw hole B (35)；External carry part B
(33) feature is identical as external carry part A (8).
The utility model has the beneficial effects that：(1) the utility model makes structure simplify convenient using green turtle housing design is imitated
It is easy to maintain, reduce maintenance cost；(2) present apparatus uses the external hanging design of function carry system, can basis
Different monitoring of environmental exchanges different function modules for, greatly improves the applicability of equipment；(3) present apparatus uses miniaturization
Design makes the present apparatus adapt to various underwater narrow environment, while also reducing cost, improve the compactedness of structure with it is right
The adaptability at changeable deep-sea.
Description of the drawings
Fig. 1 is the whole installation diagram of the small-sized hanging underwater robot platform device of the utility model.
Fig. 2 is the upward view of the small-sized hanging underwater robot platform device of the utility model.
Fig. 3 is the front view of the small-sized hanging underwater robot platform device of the utility model.
Fig. 4 is the vertical view of the small-sized hanging underwater robot platform device of the utility model.
Fig. 5 is the underwater propeller of the small-sized hanging underwater robot platform device of the utility model.
Fig. 6 is the camera system of the small-sized hanging underwater robot platform device of the utility model.
Fig. 7 is the external carry part of the small-sized hanging underwater robot platform device of the utility model.
Fig. 8 is the process of signal transmission block diagram of the small-sized hanging underwater robot platform device of the utility model.
In figure：1, green turtle sandwich type element is imitated, 2, hemispherical shell, 3, screw hole C, 4, main body rack, 5, seal washer, 6, Glan
Head, 7, hollow ring, 8, external carry part A, 9, buckle, 10, underwater propeller, 11, motor (11), 12, propeller, 13, contain
Road, 14, screw hole A (14), 15, camera system, 16, waterproof CCD camera, 17, illumination LED array, 18, main signal processing transmission
System, 19, from signal processing transmission carry system A, 20, from signal processing transmission carry system B, 21, camera data acquisition
Module, 22, data transmit-receive module A, 23, MCU A, 24, analog-digital converter, 25, sensor acquisition module, 26, data storage,
27, MCU B, 28, motor-drive circuit, 29, data transmit-receive module B, 30, data transmit-receive module C, 31, host computer, 32, program
Memory, 33, external carry part B, 34, master system, 35, screw hole B, 36, carry cylinder.
Specific implementation mode
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, with reference to embodiments, to this
Utility model is further elaborated.It should be appreciated that specific embodiment described herein is only used to explain this practicality
It is novel, it is not used to limit the utility model.
Embodiment one
A kind of function carry system of small-sized hanging underwater robot platform device as shown in Fig. 1,2,7 is the present embodiment
One, function carry system includes：External carry part A (8) and external carry part B (33)；External carry part A (8) and external extension
Holder B (33) is consisted of the following parts and is fixed, and buckle (9) integrally belongs to a part for main body rack (4), each two buckle
(9) function carry system is replaced every time by buckling the screw hole B (35) at both ends come the carry cylinder (36) that is locked respectively
When, lower carry cylinder (36) can then be gone by unscrewing screw hole B (35)；It is then respectively charged into inside carry cylinder (36) from signal processing and is transmitted
Carry system A (19) and from signal processing transmission carry system B (20).
Embodiment two
A kind of small-sized hanging underwater robot platform device as shown in Fig. 3,7,8 from signal processing transmission carry system A,
B is the present embodiment two, is installed in external carry part A (8) from signal processing transmission carry system A (19) comprising data are received
Send out modules A (22), MCU A (23), analog-digital converter (24), sensor acquisition module (25), data storage (26) and program
Memory (32), when transmitting carry system acquisition data from signal processing, sensor acquisition module (25) collected simulation
Signal transmission gives analog-digital converter (24), and the analog signal of acquisition, which is carried out A/D, is converted into digital signal, then digital signal is passed
Be defeated by MCU A (23) and carry out processing analysis, MCU A (23) and meanwhile with data storage (26) and program storage (32) two-way company
It connects, on the one hand MCU A (23) treated signals are sent to data storage (26), on the other hand pass through data transmit-receive module A
(22) it is sent to the internal main signal processing Transmission system A (18) of hemispherical shell (2).From signal processing transmission carry system B
(20) signal acquisition process transmission is consistent with from signal processing transmission carry system A (19) with storage.
Embodiment three
A kind of small-sized hanging underwater robot platform device main signal processing Transmission system as shown in Fig. 4,8 is this implementation
Example three, main signal handle the inside that Transmission system (18) is mounted on underwater robot platform hemispherical shell (2), main signal processing
Transmission system (18) includes data transmit-receive module B (29), MCU B (27), motor-drive circuit (28), camera data acquisition mould
Block (21)；Main signal handles the MCU B (27) in Transmission system (18) and receives to come since signal processing transmission carry system A
(19), from the signal of (20) and camera data acquisition module (21) signal processing transmission carry system B, signal passes through MCU B
(27) after handling, then host computer (31) is transferred to by data transmit-receive module B (29) and data transmit-receive module C (30) and is handled
Analysis and display, the control signal that host computer (31) is sent out is also by data transmit-receive module B (29) and data transmit-receive module C (30)
MCU B (27) are transferred to, MCU B (27) again parse control signal, motor-drive circuit (28) are sent to, to realize
Control to small-sized hanging underwater robot platform device.
Example IV
A kind of camera system of small-sized hanging underwater robot platform device as shown in Fig. 1,6,7 is the present embodiment four,
It includes：Waterproof CCD camera (16) and illumination LED array (17), waterproof CCD camera (16) are located among camera system,
Waterproof CCD camera (16) both sides are respectively distributed the illumination LED array (17) containing four pieces of LED；When small-sized hanging underwater robot
After stage apparatus starts, illumination LED array (17) is then always on, and waterproof CCD camera (16) the image collected is sent to MCU B
(27), MCU B (27) send images to host computer by data transmit-receive module B (29) and data transmit-receive module C (30) again
(31) it shows.
Claims (2)
1. a kind of small-sized hanging underwater robot platform device, the stage apparatus is by imitative green turtle sandwich type element, underwater propeller, work(
Energy carry system, camera system, signal processing analysis Transmission system composition, it is characterised in that：The imitative green turtle sandwich type element (1) is
It is connected with main body rack (4) by screw hole C (3) by hemispherical shell (2), accompanies seal washer (5), internal navel between the two
It is drawn by the gland head (6) of main body rack (4) with line, umbilical cord is fixed on the hollow ring (7) of main body rack tail portion again；Outside
It is fixed by the buckle (9) of main body rack (4) bottom with external carry part B (33) to set carry part A (8), two buckles (9) are whole
It is connected on main body rack (4), buckle (9) belongs to a part for main body rack (4)；The underwater propeller (10) is by motor
(11), propeller (12) and duct (13) composition, motor (11) and propeller (12) are fixedly connected on duct (13), and duct is logical
Screw hole A (14) is crossed to be fixed on main body rack (4)；The camera system (15) is by waterproof CCD camera (16) and illumination LED
Array (17) forms, and two illumination LED array (17) left and right are mounted on waterproof CCD camera (16) both sides, camera system (15)
It is fixed on main body rack (4) front bottom end；Signal processing analysis Transmission system by main signal processing Transmission system (18), from signal
Processing transmission carry system A (19), it is formed from signal processing transmission carry system B (20) and master system (34), main signal
Processing Transmission system (18) is placed in the inside of underwater robot platform hemispherical shell (2), from signal processing transmission carry system A
(19) it is internal to be placed in external carry part A (8), is placed in external carry part B (33) from signal processing transmission carry system B (20)
Portion；Main signal processing Transmission system (18) includes data transmit-receive module B (29), MCU B (27), motor-drive circuit (28), takes the photograph
Camera data acquisition module (21), underwater propeller (10) are connected with motor-drive circuit (28), waterproof CCD camera (16) with
Camera data acquisition module (21) is connected, motor-drive circuit (28) and camera data acquisition module (21) again with MCU B
(27) it is connected, MCU B (27) are connect with data transmit-receive module B (29) again；Include from signal processing transmission carry system A (19)
Data transmit-receive module A (22), MCU A (23), analog-digital converter (24), sensor acquisition module (25), data storage (26)
With program storage (32), sensor acquisition module (25) is connected with analog-digital converter (24), by the analog signal of acquisition into
Row A/D is converted into digital signal, then digital data transmission is carried out processing analysis to MCU A (23), MCU A (23) and meanwhile with number
It is bi-directionally connected according to memory (26) and program storage (32), on the one hand MCUA (23) treated signals are sent to data storage
Device (26) is on the other hand sent to the internal main signal of hemispherical shell (2) by data transmit-receive module A (22) and handles Transmission system
The MCU B (27) of A (18), from signal processing transmission carry system B (20) and the company from signal processing transmission carry system A (19)
It is identical to connect mode；Master system (34) includes host computer (31) and data transmit-receive module C (30), and host computer (31) passes through data
Transceiver module C (30) is sent to the data transmit-receive module B (29) of main signal processing Transmission system (18), and MCU B (27) will be counted again
It is analyzed according to the control signal received by transceiver module B (29), motor-drive circuit (28) is sent to, at signal
Reason transmission carry system A (19), carry system B (20), camera data acquisition module (21) three parts are transmitted from signal processing
Signal data MCU B (27) processing in Transmission system (18) is handled by main signal after, then pass through main signal processing transmission
Data transmit-receive module B (29) in system (18) is transferred to the data transmit-receive module C (30) in master system (34), finally sends out
Give host computer (31).
2. small-sized hanging underwater robot platform device according to claim 1, it is characterised in that：The function carry
System realizes the setting of dismountable multi-functional carry using buckle, and two buckles (9) in external carry part A (8), which are located at, hangs
Cylinder (36) both ends are carried, buckle (9) clamps carry cylinder (36) with screw hole B (35)；The feature of external carry part B (33) with it is external
Carry part A (8) is identical.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820009745.8U CN207917112U (en) | 2018-01-04 | 2018-01-04 | A kind of small-sized hanging underwater robot platform device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820009745.8U CN207917112U (en) | 2018-01-04 | 2018-01-04 | A kind of small-sized hanging underwater robot platform device |
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| Publication Number | Publication Date |
|---|---|
| CN207917112U true CN207917112U (en) | 2018-09-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820009745.8U Expired - Fee Related CN207917112U (en) | 2018-01-04 | 2018-01-04 | A kind of small-sized hanging underwater robot platform device |
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| CN (1) | CN207917112U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108016586A (en) * | 2018-01-04 | 2018-05-11 | 西南石油大学 | A kind of small-sized hanging underwater robot platform device |
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2018
- 2018-01-04 CN CN201820009745.8U patent/CN207917112U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108016586A (en) * | 2018-01-04 | 2018-05-11 | 西南石油大学 | A kind of small-sized hanging underwater robot platform device |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180928 Termination date: 20210104 |